point_cloud_transformer.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_POINT_CLOUD_TRANSFORMER_H
00031 #define RVIZ_POINT_CLOUD_TRANSFORMER_H
00032 
00033 #include <string>
00034 
00035 #include <ros/message_forward.h>
00036 #include <rviz/properties/forwards.h>
00037 
00038 #include <OGRE/OgreVector3.h>
00039 #include <OGRE/OgreColourValue.h>
00040 
00041 namespace Ogre
00042 {
00043 class Matrix4;
00044 }
00045 
00046 namespace sensor_msgs
00047 {
00048 ROS_DECLARE_MESSAGE(PointCloud2);
00049 }
00050 
00051 namespace rviz
00052 {
00053 
00054 struct PointCloudPoint
00055 {
00056   Ogre::Vector3 position;
00057   Ogre::ColourValue color;
00058 };
00059 typedef std::vector<PointCloudPoint> V_PointCloudPoint;
00060 
00061 typedef boost::function<void(void)> RetransformFunc;
00062 
00063 class PointCloudTransformer
00064 {
00065 public:
00066   void causeRetransform() { if (retransform_func_) retransform_func_(); }
00067 
00068   virtual void init(const RetransformFunc& retransform_func) { retransform_func_ = retransform_func; }
00069 
00074   enum SupportLevel
00075   {
00076     Support_None = 0,
00077     Support_XYZ = 1 << 1,
00078     Support_Color = 1 << 2,
00079     Support_Both = Support_XYZ|Support_Color,
00080   };
00081 
00085   virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0;
00091   virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud, uint32_t mask, const Ogre::Matrix4& transform, V_PointCloudPoint& out) = 0;
00092 
00098   virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& cloud) { return 0; }
00099 
00103   virtual void reset() {}
00104 
00110   virtual void createProperties( PropertyManager* property_man,
00111                                  const CategoryPropertyWPtr& parent,
00112                                  const std::string& prefix,
00113                                  uint32_t mask,
00114                                  V_PropertyBaseWPtr& out_props ) {}
00115 
00116 private:
00117   RetransformFunc retransform_func_;
00118 };
00119 
00120 } // namespace rviz
00121 
00122 #endif


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32